Rui Araújo – Projects

Principal Investigator in R&D Projects:

1. IMPROVE - Nonlinear Control, Estimation and Fault-Detection Tools with Provably Guarantees for Mobile Robotic Systems
Reference number: POCI-01-0145-FEDER-031823;
Host institutions: Institute of Systems and Robotics - University of Coimbra (ISR-UC); Faculty of Engineering of the University of Porto (FEUP) (leader partner); Institute of Systems and Robotics - University of Porto (ISR-UP);
Start date: 2018/06/01; End date: 2021/05/31;
Financing: co-financing by the by the Foundation for Science and Technology (FCT), the “Competitiveness and Internationalization Operational Programme” (COMPETE 2020), Portugal 2020 (PT2020), and the European Union through the European Regional Development Fund (ERDF);
Note: principal investigator at ISR-UC.

Abstract: The aim of this project is to develop system theoretical tools and algorithms in framework of mobile robotic systems that explicitly integrate in the conceptual formulation not only the desired main task but also other key objectives (e.g., economic, performance, robustness, safety, system observability properties, communication behavior and interaction with other systems, etc.) in the presence of challenging restrictions and unstructured environments. The emphasis will be placed on the design of nonlinear and optimization based control and estimation procedures that are provably accurate by construction for single and multiple robotic systems including fault-detection and isolation strategies in order to obtain high performance robotic systems capable of meeting the end-user requirements.
To assure that the research is driven by high-impact application areas, the project will focus on the following case studies:
- Shop floor logistics and manipulation: The aim is to study and contribute to the development of innovative manufacturing solutions with particular emphasis on logistics and robotic co-workers scenarios using mobile manipulators. Key research points include the development of robust and high performance torque control strategies for robotic manipulators, active and reliable perception algorithms, reactive planning, navigation and control systems to enable mobile robots to operate autonomously in unstructured environments with effective human-robot collaboration with safety guarantees.
- Cooperation of air and marine autonomous robotic vehicles for ocean monitoring and sampling: The motivating scenario is the detection and tracking of some event/feature of particular interest in the ocean (e.g., oil spill pollution) where a network of heterogeneous robotic vehicles (air, surface, and underwater) that can interact autonomously with the environment and among themselves, works in cooperation to obtain measurements with adequate temporal and spatial resolutions. The same network can also adapt in real-time its behavior/geometrical configuration in response to environmental variables measured in-situ in order to improve performance and optimize the detection and measurement strategy. This proposal brings together experts from the areas mentioned above. The merit of this research program is that it targets fundamental research well motivated by applications. The theoretical solutions envisioned will be strongly rooted in research work done by the team. Obtaining formal proofs of robustness, stability, and performance of the control and estimation algorithms is a key objective.
At practical level, one key objective is to demonstrate and integrate some of algorithms developed in the software tools for command and control of the robotic systems, simulate and test within hardware in the loop, and validate through field tests.

   COMPETE 2020 PT 2020 European Union - ERDF


2. TOOLING4G - Advanced Tools for Smart Manufacturing
Reference number: TOOLING4G/2016/24516;
Host institutions: University of Coimbra (UC); CENTIMFE - Technological Center for Moulds, Special Tools and Plastics (overall management); Aníbal H. Abrantes - Industries of Moulds and Plastics, S.A. (leader); and the project a partnership between 30 entities, including 20 companies, and 10 non-corporate R&D institutions, higher education entities, and technological interface centers;
Start date: 2018/03/01; End date: 2021/02/28;
Financing: co-financing by the “Competitiveness and Internationalization Operational Programme” (COMPETE 2020), Lisbon Regional Operational Program 2014/2020 (LISBOA2020), Portugal 2020 (PT2020), and by the European Union through the European Regional Development Fund (ERDF);
Note: principal investigator for the PPS2 part at the UC.

Abstract: The TOOLING4G project aims to make an important contribution to the moulds and plastics industry, enabling the partner companies to create the conditions to become competitive and to overcome global market challenges, by creating internally conditions for production flexibility. The project is structured in 7 large PPSs (Product, Process or Service), including hybrid manufacturing processes; intelligent tools/systems; efficient tools for multi-material products’ manufacturing; multi-process tools; industry digitalization; sustainable “zero defect” production chain; management and dissemination. The consortium consists of 21 mould-making and plastics companies and 10 entities of the research and innovation system, including higher education institutions and technology interface centres, that possess a set of complementary skills and human capital resources. Several innovations are expected to be developed in the project, mainly centred in materials, products and processes, and also in the endogenization of technologies and organizational paradigms in the context of the Industry 4.0 concept.
The participation of the University of Coimbra (UC) in the “PPS2 - Intelligent Tools/Systems” of TOOLING4G includes the development of a system of algorithms for communication in the mould-machine complex for real-time monitoring, prediction and control of parameters, variables, and defects in the injection process and in the mould-machine complex, in order to optimize the process and the moulded parts. In this participation, the UC is represented by the Intelligent Control research group of the “Institute of Systems and Robotics - University of Coimbra” (ISR-UC). In this context, computational intelligence and intelligent control methodologies are investigated and developed for monitoring, prediction, and control of parameters, variables, and defects.

LISBOA2020   COMPETE 2020 PT 2020 European Union - ERDF


3. SMITEn - Smart Meter Integrated Test Environment
Reference number: SMITEn/2016/023613;
Host institutions: Institute of Systems and Robotics - University of Coimbra (ISR-UC); Critical Software, SA;
Start date: 2017/10/01; End date: 2019/09/30;
Financing: co-financing by the “Competitiveness and Internationalization Operational Programme” (COMPETE 2020), Portugal 2020 (PT2020), and by the European Union through the European Regional Development Fund (ERDF);
Note: principal investigator at ISR-UC.

Abstract: Smart-Grids are an integrated vision for the future of energy supply networks in response to the current challenges of environmental sustainability, reliability and quality of the European energy supply. These infrastructures integrate various heterogeneous elements that should be well interconnected and whose interoperability will become increasingly complex and critical for the security and world economy.
Smart meters are the key instrument to implement these infrastructures and should be installed in nearly 80% of the European households by 2020. However, one of the great difficulties in the development of these complex systems is the ability to test them in an environment close to that where they operate, due to the cost and time needed to make tests in a real environment, as well as to the necessary interconnection between all components of such a system.
The SMITEn project proposes R&D activities to develop an innovative solution for testing and validating smart meters, enabling a wide range of global organizations to implement and execute all the needed tests to fulfill technical requirements and validate the interoperability required by each country's government. The validation infrastructure should integrate a toolkit that should support all test scenarios. It provides real and emulated connectivity to suit different situations and enables easy replication of issues and verifiable fixes.
Proposing a reliable and flexible solution to enable and help spread smart meters all over the world, SMITEn project may provide an effective response to the transition to a low carbon economy and an important contribution to an affordable, secure and sustainable energy.
An important aspect in SMITEn are the R&D activities regarding the integration of simulators, and the design of closed loop smart metering simulators.

COMPETE 2020 PT 2020 European Union - ERDF


4. KhronoSim - System for Simulation and Test of Complex Systems
Reference number: KhronoSim/2016/17611;
Host institutions: University of Coimbra (UC); Critical Software, SA; Institute of Engineering of Porto;
Start date: 2016/10/01; End date: 2018/09/30;
Financing: co-financing by “Portugal 2020” (PT2020), in the framework of the “Competitiveness and Internationalization Operational Programme” (COMPETE 2020), and by the European Union through the European Structural and Investment Funds (ESIF);
Note: principal investigator at UC.

Abstract: Concepts such as “Fourth Industrial Revolution (Industry 4.0)” and “Internet of the Things (IoT)” boasted into the technology speech like a blizzard, touching those who use and interest themselves of technology almost as much as those developing it. Such concepts are not surprisingly more used than understood; more are those using the concepts than those actually understanding their implications. Surprisingly enough, the increase of use of technology by the population at large, makes that security is not the least well-known aspect, though still not fully grasped however.
Less well-known are the implications of complex systems working tightly coupled, with little or no human intervention, or possibility of human intervention, whatsoever. In such a scenario, testing components individually, one-by-one, is not sufficient to assert the correct functioning of the overall system.
KhronoSim aims at developing a platform for testing cyber-physical systems in closed-loop. A platform that is modular, extensible and usable in multiple application domains. A platform featuring hard-real-time control, enabling the integration of simulation models to build a closed loop test environment and allowing the use of physical and virtual systems alike.
The application case of the project is the simulation, control, and test of a sun-synchronous satellite.

COMPETE 2020 PT 2020 European Union - FEEI


5. SCIAD - Self-Learning Industrial Control Systems Through Process Data
Reference number: SCIAD/2011/21531;
Host institutions: University of Coimbra (UC), and Acontrol;
Start date: 2012/01/01; End date: 2014/12/31;
Financing: co-financing by QREN, in the framework of the “Mais Centro - Regional Operational Program of the Centro”, and by the European Union through the European Regional Development Fund (ERDF);
Note: principal investigator at UC.

Abstract: The objectives and scope of the project are in R&D on data-based control methodologies based auto-tuning and auto-adaptive approaches for PID and other controlers for linear and non-linear systems; R&D control methodologies based on process data for auto-design and auto-adaptation of controllers for linear and nonlinear systems; R&D on nonlinear control systems applying methods based on neural networks using processa data, and other methods; R&D on linear and non-linear multi-variable control methodologies; R&D of model predictive control (MPC) methodologies, considering knowledge driven and data driven approaches; R&D of MPC methods that are able to auto-tune, auto-adjust, auto-adapt, and learn the system model from observation of system variables; Research on the identification of process models by cognitive algorithms (neural networks, support vector regression (SVR), fuzzy systems, etc); Research of mathematical prediction methods and/for application on the optimisation of the MPC methods; R&D of mathematical optimisation, stability, and robustness of the researched control methodologies; R&D of learning methodologies for the determination of linguistic values of linguistic fuzzy variables, as well as for the determination of the control rules: R&D on evolutionary algorithms and/or genetic algorithms and/or hybrid and/or optimization methodologies and/or unsupervised learning methodologies for learning the linguistic variables and the rules for the knowledge base of a fuzzy controller; R&D on application to simulated processes, real prototype processes, and real industrial processes.

QREN - Mais Centro  QREN  European Union - ERDF 


6. FAir-Control - Factory Air Pollution Control
Reference number: E!6498;
Host institutions: University of Coimbra (UC), and Acontrol;
Start date: 2011/11/01; End date: 2013/10/31;
Financing: Eurostars Programme of the EUREKA network, financed by “Fundação para a Ciência e a Tecnologia” (FCT), of the Ministry of Education and Science, “Agência de Inovação” (AdI), and the Seventh Framework Programme for Research and Technological Development (FP7) of the European Union;
Note: principal investigator at UC.

Abstract: The aim of this project is to develop advanced real-time control methodologies for cost optimization of air pollutants mitigation systems. The goal is the automatic control and optimization of the feed rates of mitigation chemicals introduced into the production process (Selective Non-Catalytic Reduction), in order to control the pollutants output on the stack within the legal limits, i.e. always taking in consideration the non-violation of regulations.
The main objective is to control the pollutants output on the stack within the legal limits by optimally and automatically selecting the chemicals injection rate into the cement production process, always taking in consideration the non-violation of regulations.
Controlling the pollutants ration is a quite difficult problem due to the large instability of the chemicals reactions. Hence the operators work to comply to a worst case scenario, protecting themselves by injecting a quantity of chemicals much higher than needed, wasting resources and increasing the production costs.
This project proposes the development of a software-based product, with embedded computational intelligence, capable of selecting the optimal chemical injection quantities for minimizing the operational cost. The base computational intelligence technology for this project is the Fuzzy Logic control.
The chemical reactions generated by the chemicals introduced in the cement kiln are very complex and its effectiveness highly depends on several factors such as: temperature, pollutants concentration and dispersion of the chemicals into the gas. One other aim of this project is to develop a systems that is capable to change its strategy of injecting chemicals according to the variations in the process.
To successfully achieve these objectives, it will be formed a consortium composed by 3 organizations: (1) Industrial control expert company (Acontrol), (2) Burner and kiln process expert company (Pricast), (3) University research group with expertise in advanced control and cognitive systems (UC).
The impact of the project results on the process optimization, with direct reduction of factory costs, will add a high market potential to the consortium participants.

Eurostars  Eureka  FCT  Governo de Portugal  European Union 


7. SInCACI - Intelligent Systems for Industrial Control, Acquisition and Communication
Reference number: SInCACI/3120/2009;
Host institutions: University of Coimbra (UC), and Acontrol;
Start date: 2009/04/01; End date: 2012/03/31;
Financing: “Mais Centro Operacional Program”, financed by “European Regional Development Fund” (ERDF), and “Agência de Inovação” (AdI);
Note: principal investigator at UC.

Abstract: The objectives and scope of the project are performing R&D on intelligent control and decision methods; Development of a general-purpose Fuzzy Control System (FCS); On-line process control and monitoring; Controller specification and implementation; Visualization of the process state; Devices/process failure reports; Direct application to industry problems; Research computational intelligence techniques for the development of soft sensors for industrial application; R&D on industrial communication and processing modules: industrial distributed real-time communication fieldbus protocols: ControlNet, Ethernet/IP, DeviceNet; ProfiNet. Relevant properties to industrial fieldbuses: Real-time operation, Reliability, Deterministic, Error-proof, Easy to extend and maintain. Direct application to industry problems; Selling on market.

QREN - Mais Centro  QREN  European Union - ERDF  ADI 


8. FUZCTR - Development of Fuzzy Controllers for Modules of Manufacturing Systems
Reference number: ACONTROL/ISR/001/2007;
Host institution: “Institute of Systems and Robotics - University of Coimbra” (ISR-UC);
Start date: 2007/08/27; End date: 2009/08/31;
Financing: “AControl - Automação e Controle Industrial, Lda” company.

Abstract: In this project the goal is to study and implement a fuzzy control system for industrial process control applications. The first applications will be in a cement kiln plant, including, as a first step, the control of the raw mill process.

Acontrol


9. STRNET - Development of Hardware/Software for Industrial Distributed Real-Time Systems Using the ControlNet Protocol
Reference number: ACONTROL/ISR/002/2007;
Host institution: “Institute of Systems and Robotics - University of Coimbra” (ISR-UC);
Start date: 2007/08/27; End date: 2009/08/31;
Financing: “AControl - Automação e Controle Industrial, Lda” company.

Abstract: In this project the goal is to study and develop hardware and software of real-time system containint digital processing (microcontrollers) having the capacity of performing network communication with other modules using the ControlNet protocol, as well as the capacity of performing relevant processings in industrial automation and control environments.

Acontrol


10. Project of Creation of the Research & Development Division of Acontrol
Reference number: CENTRO-07-0202-FEDER-002502;
Host institution: University of Coimbra (UC); Principal contractor: Acontrol;
Start date: 2008/09/01; End date: 2011/08/31;
Financing: “IAPMEI - Instituto de Apoio às Pequenas e Médias Empresas e à Inovação” and “AControl - Automação e Controle, Lda”. Financed within ‘‘Projectos de Criação e Reforço de Competências Internas de I&DT’’ of ‘‘Sistema de Incentivos à Investigação e Desenvolvimento Tecnológico nas Empresas’’ (SI I&DT) of ‘‘Quadro de Referência Estratégico Nacional Portugal 2007-2013’’ (QREN);
Note: principal investigator at UC.

Abstract: The University of Coimbra participates as a specialized consultant in the area of intelligent systems and algorithms.

QREN - Mais Centro  QREN  European Union - ERDF  ADI 


11. Computational Intelligence for System Monitoring, Diagnosis, and Control in Industrial Applications
Reference number: SFRH/BDE/33295/2008, PhD fellowship in company entitled “System for Monitoring and Diagnosis Using Soft Sensors in Industrial Applications”;
Host institutions: University of Coimbra (UC) and ISA;
Start date: 2008/10/01; End date: 2012/09/30;
Financing: Fundação para a Ciência e a Tecnologia (FCT), and “ISA - Instrumentação e Sistemas de Automação, Lda”;
Note: principal investigator at UC.

Abstract: The goal of this project is the realization of research and development (R&D) in the areas if computational intelligence, virtual sensors, estimation, monitoring, prediction, diagnosis, and control applied to waste water treatment plants (WWTP).

FCT 


12. LRN2002 - Learning Methods for Robot Operation
Reference number: POSI/SRI/42043/2001;
Host institution: “Institute of Systems and Robotics - University of Coimbra” (ISR-UC);
Start date: 2002/05/01; End date: 2005/12/31;
Financing: Fundação para a Ciência e a Tecnologia (FCT).

Abstract: This project addresses learning methods for mobile robots. Some example-applications of the mobile robots are: robots for service buildings such as hospitals and offices, human-oriented robots, factory mobile robots, automated car driving, autonomous transportation systems for cities, and planetary and underwater exploration.

The available sensor technologies give the possibility to equip robots to have a better understanding of the surrounding world. However, robots must perceive useful information from raw sensor data, and learn models of the world for better deciding its actions according to its objectives. Learning techniques provide autonomy and flexibility on the creation of robot control competencies, and decreasing the need for a priori models of the robot, world, and robot world interactions. Additionally, learning only relevant aspects of the world can decrease computational overheads and complexity.

Intelligent algorithms and paradigms, based on Fuzzy Logic, Neural Networks, supervised learning, self-organizing learning, reinforcement learning, memory-based learning, or other techniques, are being investigated and developed enabling robots to learn, navigate, plan and behave in the real world. Kalman estimators and energy minimization methods can be powerful tools for adjusting learned models.

The main goal of this project is to expand the research from a navigation architecture previously developed by the team. For this purpose, at the world model level, it will be developed a multi-resolution memory-based method and a self-organizing neural network that will be used for implementing a map learning method for dynamic worlds. An important aspect for a mobile robot is the knowledge of its own location in the environment. This is crucial for learning the world model and for planning robot motions. An objective of this project is to perform research towards the integration into our navigation architecture of a method for mobile robot localization.

Another goal of this project is to investigate how to integrate in our navigation architecture methods for learning robot behaviors with tightly-coupled sensing and action information. Applying reinforcement learning and supervised learning modules for learning in continuous spaces is an interesting and challenging research subject.

With the work of this project we aim to investigate methods and algorithms towards the development of intelligent robots which presently are still very far from our needs, in spite of the big developments of science and engineering,

FCT 

Team Member in R&D Projects:

  1. “MATIS - Sustainable Industrial Materials and Technologies”, run at “University of Coimbra” (UC), “Institute of Systems and Robotics - University of Coimbra” (ISR-UC), “Polytechnical Institute of Leiria” (IPL), “University of Aveiro” (UA); Co-financed by the “European Regional Development Fund” (FEDER), through the “Programa Operacional Regional do Centro” (CENTRO2020) program. Reference: CENTRO-01-0145-FEDER-000014; Start date: 2017/01/01; End date: 2020/12/31;

  2. Strategic Project “Institute of Systems and Robotics”, run at “Institute of Systems and Robotics - University of Coimbra” (ISR-UC) and funded by Fundation for Science and Technology (FCT); Reference: UID/EEA/00048/2013; Start date: 2015/01/01; End date: 2017/12/31;

  3. “Strategic Project - UI 48 - 2013-2014”, run at “Institute of Systems and Robotics - University of Coimbra” (ISR-UC) and funded by Fundation for Science and Technology (FCT); Reference: PEst-C/EEI/UI0048/2013; Start date: 2013/01/01; End date: 2014/12/31;

  4. “AMS-HMI2012 - Assisted Mobility Supported by Shared-Control and Advanced Human-Machine Interfaces” funded by Fundation for Science and Technology (FCT); Reference RECI/EEI-AUT/0181/2012; Start date: 2013/01/01; End date: 2015/12/31; Participating institutions: “Institute of Systems and Robotics - University of Coimbra” (ISR-UC);

  5. “PremiumLight - Top Quality Energy Efficient Lighting for the Domestic Sector” run at “Institute of Systems and Robotics - University of Coimbra” (ISR-UC) and funded by European Union “Intelligent Energy Europe Programme”; Reference: IEE/11/941/SI2.615944; Start date: 2012/05/01; End date: 2014/10/31;

  6. “Processes and Technologies for Intelligent Embedded Systems in Health and Industrial Automation Applications” funded by “Fundação de Amparo à Pesquisa do Estado de Goiás” (FAPEG), Brazil; Reference: 2012005437401368; Start date: 2013/02/01; End date: 2015/01/31; Participating institutions: Pontifícia Universidade Católica de Goiás (PUC Goiás, Brazil) (Departamento de Computação, Laboratório de Sistemas Embarcados), Universidade Federal de Goiás (UFG, Brazil), Universidade de Brasília (UnB, Brazil) (Faculdade Gama, Departamento de Engenharia Elétrica), “Institute of Systems and Robotics - University of Coimbra” (ISR-UC);

  7. “PDCS2010 - Pedestrian Detection Urban Challenging Scenarios”; Funded by: Fundation for Science and Technology (FCT); Reference: PTDC/EEA-AUT/113818/2009; Start date: 2011/03/01. End date: 2014/02/28; Participating institutions: Universidade de Coimbra (UC) (principal contractor) and “Institute of Systems and Robotics - University of Coimbra” (ISR-UC);

  8. “Strategic Project - UI 48 - 2011-2012”, run at “Institute of Systems and Robotics - University of Coimbra” (ISR-UC) and funded by Fundation for Science and Technology (FCT); Reference: PEst-C/EEI/UI0048/2011; Start date: 2011/01/01; End date: 2012/12/31;

  9. “Sleep Tight - Development of Technologies for Outpatient Diagnostic Pathology of Sleep” funded by “Mais Centro Operacional Program”, financed by “European Regional Development Fund” (ERDF), and “Agência de Inovação” (AdI); Contract Nº QREN 11530, CENTRO-01-0202-FEDER-011530"; Start date: 2010/01/01; End date: 2012/12/31;

  10. “E4 - Energy-Efficient Elevators and Escalators” run at “Institute of Systems and Robotics - University of Coimbra” (ISR-UC) and funded by European Union “Intelligent Energy Europe Programme”; Reference: EIE/05/124/S12.419657; Start date: 2006/01/01; End date: 2008/12/31;

  11. “REMODECE - Residential Monitoring to Decrease Energy Use and Carbon Emissions in Europe” run at “Institute of Systems and Robotics - University of Coimbra” (ISR-UC) and funded by European Union “Intelligent Energy Europe Programme”; Reference: EIE/05/124/S12.419657; Start date: 2006/01/01; End date: 2008/09/30;

  12. “SELINA - Standby and Off-Mode Energy Losses In New Appliances Measured in Shops” run at “Institute of Systems and Robotics - University of Coimbra” (ISR-UC) and funded by European Union “Intelligent Energy Europe Programme”; Reference: IEE/07/563/SI.499206; Start date: 2008/01/01; End date: 2010/12/31;

  13. “EVSIM09 - Models for Traffic Simulation of Electric Vehicles with Communications and Dynamic Decision Capacity” run at “Institute of Systems and Robotics - University of Coimbra” (ISR-UC) and funded by Fundation for Science and Technology (FCT); Reference: PTDC/SEN-TRA/099413/2008; Start date: 2010/01/01; End date: 2012/12/31;

  14. “GroundMED - Advanced Ground Source Heat Pump Systems for Heating and Cooling in Mediterranean Climate” run at “Institute of Systems and Robotics - University of Coimbra” (ISR-UC) and funded by European Union “Intelligent Energy Europe Programme”; Reference: TREN/FP7EN/218895/“GROUND-MED”; Start date: 2009/01/01; End date: 2013/12/31;

  15. “PmITS06 - Perception Methods for an Intelligent Transportation System using On-Board and Off- Board Sensing” funded by Fundation for Science and Technology (FCT); Project PTDC/EEA-ACR/72226/2006; Start date: 2008/01/01; End date: 2010/12/31;

  16. “Robotic-Assisted Minimally Invasive Surgery” funded by Fundation for Science and Technology (FCT) Project PTDC/EEAACR/72253/2006; Start date: 2008/01/01; End date: 2010/12/31;

  17. “MTDTS - Multi-target Detection and Tracking in Semi-structured Outdoor Environment using Laserscanner and Vision” funded by Fundation for Science and Technology (FCT); Project POSC/EEA-SRI/58279/2004; Start date: 20050101; End date: 20071230;

  18. “NCT04 - Nonlinear Control Techniques Applied in Path Following of WMRs and Autonomous Vehicles with High Precision Localization System” funded by Fundation for Science and Technology (FCT); Project POSC/EEA-SRI/58016/2004; Start date: 2005/01/01; End date: 2007/12/30;

  19. “CyberC3 - Cybernetic technologies for Cars in the Chinese Cities” funded by European Union “EC Asia IT&C Programme”; Project CN/ASIA-IT&C/002(88667); Start date: 2005/01/01; End date 2006/12/30;

  20. “CyberCars - Cybernetic Cars for a New Transportation System in the Cities” funded by the European Union; Project: IST-2000-28487, 5th Framework Programme; Start date: 2001/08/01; End date: 2004/07/31;

  21. “TSM02 - Trajectory Planning and Tracking of Mechanical Systems with Nonholonomic Constraints” funded by Fundation for Science and Technology (FCT); Project: POSI/SRI/41618/2001; Start date: 2001/01/05; End date: 2004/04/30;

  22. “CTR2001 - Robot Motion and Force Control: Linking Sensory and Intelligent Levels” funded by Fundation for Science and Technology (FCT); Project: PCTI/1999/SRI/33594; Start date: 2000/11/01; End date: 2003/11/01);

  23. “ROBOT2000 - Robot for Continuous Electrostatic Painting Line” funded by Portuguese Agency for Innovation, Programme IC-PME (in conjunction with small and medium entreprises); Start date: 1999/06/01; End date: 2001/06/30;

  24. “MENTOR - Teaching and Exploratory Skill Learning Methods for Human-Oriented Robots” funded by JNICT (Junta Nacional de Investigação Científica e Tecnológica); Project: PRAXIS/C/EEI/13141/1998; Start date: 1999/05/01; End date: 2001/04/30;

  25. “ARMMA - Autonomous Robotics Methodologies for Multidisciplinary Applications” funded by JNICT (Junta Nacional de Investigação Científica e Tecnológica); Contract: PRAXIS/3/3.1/TR/23/94; Start date: 1996/01/01; End date: 1998/12/31;

  26. “TELEMACH - Telerobotic System with a High-Performance Man-Machine Interface” funded by JNICT (Junta Nacional de Investigação Científica e Tecnológica) and European Centre of Nuclear Research (CERN); Contracts: CERN/C/CA/1115/95,96,97; Start date: 1996/01/01; End date: 1998/12/31;

  27. “Exploratory Action (ESPRIT EA5673)” concerning Multisensor Systems;

  28. “CROM - Robotic Assembly Cell” funded by JNICT (Junta Nacional de Investigação Científica e Tecnológica); project STRDA/C/TPR/597/92;

  29. “FSAR - Sensor Fusion for Robotic Applications” funded by JNICT (Junta Nacional de Investigação Científica e Tecnológica).